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基本篇
1. 關(guān)于安全
3
1.1 關(guān)于正文中的符號(hào) ..................................................................................... 3
1.2 設(shè)計(jì)與安裝注意事項(xiàng).................................................................................. 4
1.2.1 滾珠絲杠花鍵的強(qiáng)度 ...................................................................... 5
1.3 操作注意事項(xiàng)............................................................................................. 6
1.4 緊急停止.................................................................................................... 8
1.5 無驅(qū)動(dòng)電源時(shí)的緊急移動(dòng) ........................................................................ 10
1.6 CP運(yùn)動(dòng)的ACCELS設(shè)置............................................................................11
1.7 機(jī)器人標(biāo)簽 .............................................................................................. 12
2. 規(guī)格
14
2.1 LS20系列機(jī)器人的特征........................................................................... 14
2.2 型號(hào)......................................................................................................... 15
2.3 部件名稱和外形尺寸................................................................................ 16
2.3.1 LS20-804*.................................................................................... 16
2.3.2 LS20-A04* ................................................................................... 20
2.4 規(guī)格......................................................................................................... 24
2.5 機(jī)型設(shè)定方法........................................................................................... 26
3. 環(huán)境與安裝
27
3.1 環(huán)境......................................................................................................... 27
3.2 臺(tái)架......................................................................................................... 28
3.3 機(jī)器人安裝尺寸....................................................................................... 29
3.3.1 LS20-804*.................................................................................... 29
3.3.2 LS20-A04* ................................................................................... 31
3.4 開箱與搬運(yùn) .............................................................................................. 33
3.4.1 搬運(yùn)注意事項(xiàng) ............................................................................... 33
3.4.2 搬運(yùn).............................................................................................. 34
3.5 安裝步驟.................................................................................................. 35
3.5.1 標(biāo)準(zhǔn)環(huán)境規(guī)格 ............................................................................... 35
3.5.2 潔凈環(huán)境規(guī)格 ............................................................................... 36
3.6 電纜連接.................................................................................................. 37
3.7 用戶配線與配管....................................................................................... 38
3.8 移設(shè)與保管 .............................................................................................. 39
3.8.1 移設(shè)與保管注意事項(xiàng) .................................................................... 39
3.8.2 移設(shè).............................................................................................. 40
4. 夾具末端的設(shè)定
41
4.1 夾具末端的安裝....................................................................................... 41
4.2 相機(jī)∕氣動(dòng)閥等的安裝............................................................................ 42
4.3 Weight設(shè)定與Inertia設(shè)定......................................................................... 43
4.3.1 Weight設(shè)定................................................................................... 43
4.3.2 Inertia設(shè)定.................................................................................... 45目錄
x
LS20 Rev.1
4.4 第3關(guān)節(jié)自動(dòng)加∕減速注意事項(xiàng)................................................................49
5. 動(dòng)作區(qū)域
50
5.1 利用脈沖范圍設(shè)定動(dòng)作區(qū)域（全關(guān)節(jié)） ...................................................50
5.1.1 第1關(guān)節(jié)***大脈沖范圍...................................................................51
5.1.2 第2關(guān)節(jié)***大脈沖范圍...................................................................51
5.1.3 第3關(guān)節(jié)***大脈沖范圍...................................................................52
5.1.4 第4關(guān)節(jié)***大脈沖范圍...................................................................52
5.2 利用機(jī)械擋塊設(shè)定動(dòng)作區(qū)域......................................................................53
5.2.1 第1關(guān)節(jié)∕第2關(guān)節(jié)的機(jī)械擋塊設(shè)定...............................................54
5.2.2 第3關(guān)節(jié)的機(jī)械擋塊設(shè)定 ...............................................................56
5.3 機(jī)器人XY坐標(biāo)系中的矩形范圍設(shè)定（第1關(guān)節(jié)和第2關(guān)節(jié)）.....................58
5.4 標(biāo)準(zhǔn)動(dòng)作區(qū)域 ...........................................................................................58
維護(hù)篇
1. 關(guān)于維護(hù)時(shí)的安全 ........................................................................ 61
2. 維護(hù)概要 ...................................................................................... 62
2.1 維護(hù)檢查 ..................................................................................................62
2.1.1 維護(hù)檢查進(jìn)度表 ..........................................................................62
2.1.2 檢查內(nèi)容 .....................................................................................63
2.2 檢修..........................................................................................................64
2.3 潤滑脂加注...............................................................................................65
2.4 內(nèi)六角螺栓的緊固....................................................................................66
2.5 關(guān)于原點(diǎn)位置 ...........................................................................................66
2.6 維護(hù)部件的配置........................................................................................67
3. 外罩 ............................................................................................. 68
3.1 機(jī)械臂頂部外罩........................................................................................69
3.2 機(jī)械臂底部外罩........................................................................................70
3.3 第1機(jī)械臂外罩 .........................................................................................70
3.4 連接器板 ..................................................................................................71
3.5 連接器子板...............................................................................................72
3.6 用戶板......................................................................................................72
4. 電纜 ............................................................................................. 73
4.1 電纜單元的更換........................................................................................73
4.2 配線表......................................................................................................78
4.2.1 信號(hào)電纜.......................................................................................78
4.2.2 電源電纜.......................................................................................79
4.2.3 用戶電纜.......................................................................................80
4.3 M/C電纜的更換 ........................................................................................81目錄
LS20 Rev.1
xi
5. 第1機(jī)械臂 ................................................................................... 84
5.1 第1關(guān)節(jié)電機(jī)的更換 ................................................................................. 85
5.2 第1關(guān)節(jié)減速機(jī)的更換.............................................................................. 88
6. 第2機(jī)械臂 ................................................................................... 91
6.1 第2關(guān)節(jié)電機(jī)的更換 ................................................................................. 92
6.2 第2關(guān)節(jié)減速機(jī)的更換.............................................................................. 96
7. 第3機(jī)械臂 ................................................................................. 100
7.1 第3關(guān)節(jié)電機(jī)的更換 ............................................................................... 101
7.2 同步皮帶的更換..................................................................................... 105
7.3 制動(dòng)器的更換......................................................................................... 109
7.4 同步皮帶拉力的檢查...............................................................................113
8. 第4機(jī)械臂 .................................................................................. 114
8.1 第4關(guān)節(jié)電機(jī)的更換 ................................................................................115
8.2 同步皮帶的更換......................................................................................119
8.3 制動(dòng)器的更換......................................................................................... 123
8.4 減速機(jī)的更換......................................................................................... 124
8.5 同步皮帶拉力的檢查.............................................................................. 126
9. 伸縮罩 ....................................................................................... 127
10. 滾珠絲杠花鍵單元 ................................................................... 129
10.1 滾珠絲杠花鍵單元的潤滑脂加注............................................................ 129
10.1.1 標(biāo)準(zhǔn)環(huán)境規(guī)格（S型）................................................................ 130
10.1.2 潔凈環(huán)境規(guī)格 ............................................................................. 131
10.2 滾珠絲杠花鍵單元的更換 ...................................................................... 133
11. 鋰電池和電池板 ....................................................................... 136
11.1 電池單元（鋰電池）的更換................................................................... 138
11.2 分解器板的更換..................................................................................... 139
11.3 控制板的更換......................................................................................... 141
12. LED指示燈 .............................................................................. 142
13. 原點(diǎn)調(diào)整 ................................................................................. 143
13.1 關(guān)于原點(diǎn)調(diào)整......................................................................................... 143
13.2 原點(diǎn)調(diào)整步驟......................................................................................... 144
13.3 第2關(guān)節(jié)的正確原點(diǎn)調(diào)整........................................................................ 154
13.4 不使用向?qū)У脑c(diǎn)調(diào)整步驟................................................................... 156
14. 維護(hù)部件表 .............................................................................. 160
